Merge pull request #3278 from rajat2004/fix-camera-fov

Update Camera FoV as well when using simSetCameraFoV API

PythonClient/computer_vision/fov_change.py

@@ -0,0 +1,53 @@
+import setup_path
+import airsim
+import os
+import tempfile
+
+client = airsim.VehicleClient()
+client.confirmConnection()
+
+tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_cv_mode")
+print ("Saving images to %s" % tmp_dir)
+try:
+    os.makedirs(tmp_dir)
+except OSError:
+    if not os.path.isdir(tmp_dir):
+        raise
+
+CAM_NAME = "front_center"
+print(f"Camera: {CAM_NAME}")
+
+airsim.wait_key('Press any key to get camera parameters')
+
+cam_info = client.simGetCameraInfo(CAM_NAME)
+print(cam_info)
+
+airsim.wait_key(f'Press any key to get images, saving to {tmp_dir}')
+
+requests = [airsim.ImageRequest(CAM_NAME, airsim.ImageType.Scene),
+           airsim.ImageRequest(CAM_NAME, airsim.ImageType.DepthVis)]
+
+def save_images(responses, prefix = ""):
+    for i, response in enumerate(responses):
+        filename = os.path.join(tmp_dir, prefix + "_" + str(i))
+        if response.pixels_as_float:
+            print(f"Type {response.image_type}, size {len(response.image_data_float)}, pos {response.camera_position}")
+            airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
+        else:
+            print(f"Type {response.image_type}, size {len(response.image_data_uint8)}, pos {response.camera_position}")
+            airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
+
+
+responses = client.simGetImages(requests)
+save_images(responses, "old_fov")
+
+airsim.wait_key('Press any key to change FoV and get images')
+
+client.simSetCameraFov(CAM_NAME, 120)
+responses = client.simGetImages(requests)
+save_images(responses, "new_fov")
+
+new_cam_info = client.simGetCameraInfo(CAM_NAME)
+print(new_cam_info)
+
+print(f"Old FOV: {cam_info.fov}, New FOV: {new_cam_info.fov}")

Unreal/Plugins/AirSim/Source/PIPCamera.cpp

@@ -277,6 +277,8 @@ void APIPCamera::setCameraFoV(float fov_degrees)
     for (int image_type = 0; image_type < image_count; ++image_type) {
         captures_[image_type]->FOVAngle = fov_degrees;
     }
+
+    camera_->SetFieldOfView(fov_degrees);
 }
 
 void APIPCamera::setupCameraFromSettings(const APIPCamera::CameraSetting& camera_setting, const NedTransform& ned_transform)